Related papers: Local convergence of multi-agent systems towards t…

This paper studies a consensus problem in multidimensional networks having the same agent-to-agent interaction pattern under both intra- and cross-layer time delays. Several conditions for the agents to asymptotically reach a consensus are…

The work done in this paper, proposes a complex Laplacian-based distributed control scheme for convergence in the multi-agent network. The proposed scheme has been designated as cascade formulation. The proposed technique exploits the…

This work presents an innovative learning-based approach to tackle the tracking control problem of Euler-Lagrange multi-agent systems with partially unknown dynamics operating under switching communication topologies. The approach leverages…

We study a process of pattern formation for a generic model of species anchored to the nodes of a network where local reactions take place, and that experience non-reciprocal long-range interactions, encoded by the network directed links.…

Flocking is a coordinated collective behavior that results from local sensing between individual agents that have a tendency to orient towards each other. Flocking is common among animal groups and might also be useful in robotic swarms. In…

This paper investigates a pattern formation control problem for a multi-agent system modeled with given interaction topology, in which $m$ of the $n$ agents are chosen as leaders and consequently a control signal is added to each of the…

We theoretically and numerically study the problem of optimal control of large-scale autonomous systems under explicitly adversarial conditions, including probabilistic destruction of agents during the simulation. Large-scale autonomous…

In this paper, we propose a distance-based formation control strategy that can enable four mobile agents, which are modelled by a group of single-integrators, to achieve the desired formation shape specified by using six consistent…

We propose a technique to detect and generate patterns in a network of locally interacting dynamical systems. Central to our approach is a novel spatial superposition logic, whose semantics is defined over the quad-tree of a partitioned…

This paper presents the design and analysis of the finite/fixed-time scaled consensus for multiagent systems. A study on a generic attracting law, the certain classes of nonlinear systems that admit attractors with finite/fixed-time…

We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The…

This paper presents a theoretical framework for the design and analysis of gradient descent-based algorithms for coverage control tasks involving robot swarms. We adopt a multiscale approach to analysis and design to ensure consistency of…

Localized patterns are coherent structures embedded in a quiescent state and occur in both discrete and continuous media across a wide range of applications. While it is well-understood how domain covering patterns (for example stripes and…

Learning under distribution shifts is a challenging task. One principled approach is to exploit the invariance principle via the structural causal models. However, the invariance principle is violated when the response is intervened, making…

This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…

Rapid urbanization in cities like Bangalore has led to severe traffic congestion, making efficient Traffic Signal Control (TSC) essential. Multi-Agent Reinforcement Learning (MARL), often modeling each traffic signal as an independent agent…

This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the rigidity and persistence of meta-formations, which are formations obtained by connecting several rigid…

Simultaneous localization and mapping (SLAM) systems with novel view synthesis capabilities are widely used in computer vision, with applications in augmented reality, robotics, and autonomous driving. However, existing approaches are…

In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must indirectly steer uncontrolled followers through local…

This paper introduces a novel approach of clustering, which is based on group consensus of dynamic linear high-order multi-agent systems. The graph topology is associated with a selected multi-agent system, with each agent corresponding to…